//各个外设的初始化
void Peripheral_Init(void)
{
// 中断向量表配置
NVIC_PriorityGroupConfig(NVIC_PriorityGroup_2);
PS_Init();
KEY_Init();
STATU_Init();
LED_Init();
BEEP_Init();
CAN1_Init();
CAN2_Init();
OLED_Init();
ADC_Configuration();
}
static void Init(void) {
Frame.Data = rxbuffer; /* Set pointer to OutData buffer */
// Inicializacion UART
uartData.handle = AS1_Init(&uartData);
uartData.isSent = FALSE;
uartData.rxChar = '\0';
uartData.rxPutFct = UART_RxBuff_Put;
canData.handle = CAN1_Init(&canData);
canData.isSent = FALSE;
canData.rxChar = '\0';
canData.rxPutFct = CAN_RxBuff_Put;
/* set up to receive RX into input buffer */
UART_RxBuff_Init(); /* initialize RX buffer */
CAN_RxBuff_Init(); /* initialize RX buffer */
/* Set up ReceiveBlock() with a single byte buffer. We will be called in OnBlockReceived() event. */
while (AS1_ReceiveBlock(uartData.handle, (LDD_TData *) &uartData.rxChar,
sizeof(uartData.rxChar)) != ERR_OK) {
} /* initial kick off for receiving data */
}
int main(void)
{
// u8 a[] = {0xAA, 0xAA, 0x33, 0x44, 0x55, 0x66, 0x77, 0x88,0x99,0xa0,0x04,0x10,0x08,0x01,0x08,0x99};
u8 a[] = {0x11, 0x22, 0x33,0x44, 0x55, 0x66, 0x77};
RobotRate rate;
WheelSpeed wheelspeed;
SystemInit();
USART1_Init(115200);
USART2_Init(115200);
USART3_Init(38400);
UART4_Init(115200);
CAN1_Init();
LED_Init();
// TIM2_Init();
TIM3_Init();
SysTick_Init();
Motor_init();
amp_init();
mag_sensor_init();
flash_init();
DelayMs(1000); //Time for Motor Driver Board to init
//set_all_speedctl();
t3 = micros();
//*************************initial sensor***************************************************************//
while(t < 0x15)
{
if(UART4RecvPtrR != UART4RecvPtrW)
{
op = AHRSCheckDataFrame();
if(op == ACC_METER || op == GYRO || op == ANGLE_OUTPUT || op == MAG_METER )
{
SensorInitial(op);
t++;
}
}
t4 = micros();
time_taken = t4 - t3;
if(time_taken > 3000000)
{
//break;
}
}
sch_init();
sch_add_task(sensors, 6, 20);
sch_add_task(AHRS_compute, 1, 50);
// sch_add_task(led_task, 4, 100);
sch_add_task(UART2Proc, 10, 20);
// sch_add_task(UART3Proc, 3, 20);
// sch_add_task(UART3Proc, 4, 20);
// sch_add_task(FRIDCheck, 2, 20);
sch_start();
while (1)
{
sch_dispatch_tasks();
//Welcome();
}
}
void MAIN_vInit(void)
{
// USER CODE BEGIN (Init,2)
// USER CODE END
//// -----------------------------------------------------------------------
//// Begin of Important Settings for the Start-Up File
//// -----------------------------------------------------------------------
/// All following settings must be set in the start-up file. You can use
/// DAvE's project file (*.dpt) to include this register values into your
/// compiler EDE.
/// ---------------------------------------------------------------------
/// Initialization of the SYSCON Register:
/// ---------------------------------------------------------------------
/// - 256 words system stack
/// - Internal ROM area mapped to segment 1
/// - the segmentation is enabled (CSP is saved/restored during
/// interrupt entry/exit)
/// - Internal ROM disabled
/// - the pin #BHE is enabled
/// - the pins #WR and #BHE retain their normal functions
/// - system clock output CLKOUT is disabled
/// - latched #CS mode
/// - pin #RSTIN is pulled low during the internal reset sequence
/// - the on-chip X-Peripherals are enabled and can be accessed
/// - accesses to the XBUS peripherals are done internally
//// this register must be set in the start-up file
//// SYSCON = 0x101C
/// ---------------------------------------------------------------------
/// Initialization of the SYSCON1 Register:
/// ---------------------------------------------------------------------
//// this register must be set in the start-up file
//// SYSCON1 = 0x0000
/// ---------------------------------------------------------------------
/// Initialization of the SYSCON2 Register:
/// ---------------------------------------------------------------------
//// this register must be set in the start-up file
//// SYSCON2 = 0x0000
/// ---------------------------------------------------------------------
/// Initialization of the SYSCON3 Register:
/// ---------------------------------------------------------------------
//// this register must be set in the start-up file
//// SYSCON3 = 0x0000
/// ---------------------------------------------------------------------
/// --- initialization of the BUSCON 0-4 and ADRRSEL Registers 1-4 ---
/// ---------------------------------------------------------------------
/// ---------------------------------------------------------------------
/// ---------- external bus 0 is enabled ----------
/// ---------------------------------------------------------------------
/// - 16-bit Multiplexed Bus
/// - memory cycle time control: 15 waitstates
/// - With read/write delay: activate command 1 TCL after falling edge
/// of ALE
/// - chip select mode: address chip select
/// - memory tristate control: 1 waitstate
/// - ALE lengthening control: lengthened ALE signal
/// - Address windows are switched immediately
/// - Normal #WR signal
//// this register must be set in the start-up file
//// BUSCON0 = 0x06C0
//// -----------------------------------------------------------------------
//// End of Important Settings for the Start-Up File
//// -----------------------------------------------------------------------
// -----------------------------------------------------------------------
// Initialization of the Peripherals:
// -----------------------------------------------------------------------
// initializes the Parallel Ports
IO_Init();
// initializes the Asynchronous/Synchronous Serial Interface (ASC0)
ASC0_Init();
// initializes the General Purpose Timer Unit (GPT1)
GPT1_vInit();
// initializes the Watchdog Timer (WDT)
WDT_Init();
// initializes the Real Timer Clock (RTC)
RTC_Init();
// initializes the Analog / Digital Converter (ADC)
ADC_vInit();
// initializes the Capture / Compare Unit 2 (CAPCOM2)
CC2_Init();
// initializes the Capture / Compare Unit 6 (CAPCOM6)
CC6_Init();
// initializes the On-Chip CAN Interface 1 (CAN1)
CAN1_Init();
// USER CODE BEGIN (Init,3)
// USER CODE END
// globally enable interrupts
PSW_IEN = 1;
} // End of function MAIN_vInit